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提出了一种机器人手-眼视觉分步动态目标定位方法,实验中保持摄像机图像平面与工作台平面平行,通过摄像机在不同高度对工作台上目标的分步拍摄并获取目标位置信息,将目标定位的三维关系简化为二维关系处理。在摄像机对目标定位的过程中,目标位置信息被不断修正,最终将目标定位在图像的中心位置,进而引导末端执行器完成对目标的准确抓取。实验结果显示该手-眼视觉分步动态目标定位方法定位准确、可靠性高。
A robot hand-eye visual step-by-step dynamic target positioning method is proposed. In the experiment, the plane of the camera image is parallel to the plane of the workbench. Through the camera’s step-by-step shooting of the target on the workbench at different heights and obtaining the target position information, Positioning of the three-dimensional relationship simplified to two-dimensional relationship processing. During the positioning of the camera by the camera, the target position information is constantly corrected, and the target is finally positioned at the center of the image, thereby guiding the end effector to accurately capture the target. The experimental results show that the hand-eye visual step-by-step dynamic target location method has the advantages of accurate positioning and high reliability.